Experimental performance analysis of an AMR controlled by a hybrid MPC-PID method

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dc.contributor.authorCelik, Orkan Murat
dc.contributor.authorKoseoglu, Murat
dc.contributor.authorDeniz, Furkan Nur
dc.date.accessioned2026-04-04T13:31:25Z
dc.date.available2026-04-04T13:31:25Z
dc.date.issued2026
dc.departmentİnönü Üniversitesi
dc.description.abstractRecent advances in decision-making algorithms used in mobile robotics require more advanced and adaptive control strategies. Model predictive control (MPC) is one of the prominent strategies to manage diverse kinds of complex dynamic systems. Despite their widespread adoption in industrial robotics owing to their structural simplicity and ease of implementation, proportional-integral-derivative (PID) controllers exhibit notable limitations in effectively addressing process variations and system constraints, particularly those arising from mechanical constraints on joint positions and velocities. As autonomous mobile robots (AMRs) have been increasingly deployed in various and demanding applications, the need for more advanced control algorithms has become critical. In this study, a novel hybrid control framework integrating MPC and PID strategies is proposed and experimentally validated on a real-world differential drive robot, aiming to enhance tracking accuracy and overall operational performance. The system model of the TurtleBot3 robot is identified using the System Identification Toolbox and validated through extensive motion tests on the real robot by using Robot Operating System 2. The proposed control scheme combines the predictive capabilities of MPC with the reactive nature of PID to facilitate improved management of system constraints, aiming to improve the performance of AMR in controlling both linear and angular velocities. Experimental results show that the hybrid MPC-PID controller exhibits better performance by reducing tracking errors while maintaining reliability and robustness characteristics over a conventional PID controller. These results demonstrate that the hybrid MPC-PID approach provides a more effective solution for dynamic control tasks in mobile robotic systems, particularly in scenarios requiring high accuracy and reliability.
dc.description.sponsorshipInonu University, Scientific Research Projects Coordination Unit (BAP) [FDK-2022-2777]
dc.description.sponsorshipThis work was supported by Inonu University, Scientific Research Projects Coordination Unit (BAP) [Grant number FDK-2022-2777] .
dc.identifier.doi10.24425/bpasts.2025.156764
dc.identifier.issn0239-7528
dc.identifier.issn2300-1917
dc.identifier.issue1
dc.identifier.scopus2-s2.0-105031188248
dc.identifier.scopusqualityQ2
dc.identifier.urihttps://doi.org/10.24425/bpasts.2025.156764
dc.identifier.urihttps://hdl.handle.net/11616/108780
dc.identifier.volume74
dc.identifier.wosWOS:001690044600012
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherPolska Akad Nauk, Polish Acad Sci, Div Iv Technical Sciences Pas
dc.relation.ispartofBulletin of the Polish Academy of Sciences-Technical Sciences
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_WOS_20250329
dc.subjectROS2
dc.subjectAMR
dc.subjectMPC-PID
dc.subjectsystem identification
dc.titleExperimental performance analysis of an AMR controlled by a hybrid MPC-PID method
dc.typeArticle

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